Time-varying slip rate inversion dynamic surface constraint control algorithm based on second-order slip rate model

Abstract

The invention discloses a time-varying slip rate inversion dynamic surface constraint control algorithm based on a second-order slip rate model. Aiming at the situation that the slip rate is changed excessively quickly under the condition of the complex road surface, on the basis of a Burckhardt tire model, the second-order slip rate model is established, the slip rate change situation is reflected, the situation of derivative change of the slip rate can further be reflected, and the slip rate change rule of a vehicle antilock braking system (ABS) under the complex working condition can be described more. Meanwhile, a time-varying asymmetric obstacle Lyapunov function is introduced into the design of a slip rate controller, the problem of time-varying slip rate constraint control is solved, and the situation that the slip rate works in an unstable region is avoided fundamentally. The problem of differential explosion in an inversion control algorithm is solved by adopting a dynamic surface control algorithm. The designed slip rate constraint controller can have the shorter braking time and the shorter braking distance under the situation of not violating constraint conditions, the wheel speed and the braking torque do not jitter in the braking process, and the comfort of a vehicle is improved.

Description

technical field [0001] The invention relates to the field of smart cars, in particular to a time-varying slip rate inversion dynamic surface constraint control algorithm based on a second-order slip rate model. Background technique [0002] Vehicle anti-lock braking system (Antilock Braking System, ABS) is one of the active safety devices, which is very important to improve vehicle stability and safety. During the entire braking process of the vehicle, ABS not only needs to provide maximum braking force to obtain high braking performance, but also to avoid wheel slip to avoid locking. The ABS control system usually adopts the slip rate control method, and the vehicle slip rate can track the optimal slip rate through the control algorithm, so as to obtain the maximum braking torque. With the continuous development of modern control theory, several ABS slip rate control algorithms have been proposed in the existing literature, such as logic threshold value, PID control, fuzzy...

AI Technical Summary

Problems solved by technology

At the same time, aiming at the time-varying characteristics of the slip rate constraint limit under abrupt road or uneven road conditions, the present invention introduces the time-varying asymmetric obstacle Lyapunov function into the design of the slip rate controller to solve the time-varying slip The rate-constrained control problem fundamentally avoids the slip rate from working in the unstable region

At the same time, the present invention uses the dynamic surface control algorithm to solve the differential explosion problem in the inversion control algorithm

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